3D Needle-Tissue Interaction Simulation for Prostate Brachytherapy

  • Orcun Goksel
  • Septimiu E. Salcudean
  • Simon P. DiMaio
  • Robert Rohling
  • James Morris
Part of the Lecture Notes in Computer Science book series (LNCS, volume 3749)


This paper presents a needle-tissue interaction model that is a 3D extension of a prior work based on the finite element method. The model is also adapted to accommodate arbitrary meshes so that the anatomy can effectively be meshed using third-party algorithms. Using this model a prostate brachytherapy simulator is designed to help medical residents acquire needle steering skills. This simulation uses a prostate mesh generated from clinical data segmented as contours on parallel slices. Node repositioning and addition, which are methods for achieving needle-tissue coupling, are discussed. In order to achieve real-time haptic rates, computational approaches to these methods are compared. Specifically, the benefit of using the Woodbury formula (matrix inversion lemma) is studied. Our simulation of needle insertion into a prostate is shown to run faster than 1 kHz.


Needle Insertion Prostate Brachytherapy Contact Node Needle Shaft Matrix Inversion Lemma 
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Copyright information

© Springer-Verlag Berlin Heidelberg 2005

Authors and Affiliations

  • Orcun Goksel
    • 1
  • Septimiu E. Salcudean
    • 1
  • Simon P. DiMaio
    • 2
  • Robert Rohling
    • 1
  • James Morris
    • 3
  1. 1.Department of Electrical and Computer EngineeringUniversity of British ColumbiaVancouverCanada
  2. 2.Surgical Planning Laboratory, Department of RadiologyBrigham and Women’s HospitalBostonUSA
  3. 3.Vancouver Center, British Columbia Cancer AgencyVancouverCanada

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